Mandatory

Question 1

Active School Bus

Answer 1

Disengage and come to a stop when encountering a school bus that has deployed its flashing Stop Sign or has flashing red lights. Hero will not stop for these as it is currently not handled by Planner. Caution: Active School Bus

Question 2

Activated Crosswalk TL

Answer 2

Disengage when approaching an active crosswalk traffic light that is flashing red or yellow to indicate a pedestrian is crossing. (Also known as HAWK traffic lights). This is currently not supported by Planner or ZRN and Hero may not react appropriately to the signal. These traffic lights are most common around the El Camino Real area. Caution: Crosswalk Traffic Light

Question 3

Adjusted Speed Limits

Answer 3

Disengage when Hero exceeds the adjusted speed limits of any signs posted. Hero does not yet obey adjusted speed limits (i.e. school zones, when lights are flashing on an adjusted speed limit sign, etc.) Caution: Adjusted Speed Limits

Question 4

Animals

Answer 4

Disengage if an animal is in or near the path of hero. Hero may not react appropriately. Caution: #animal (follow up with what type of animal and direction)

Question 5

Cable Cars

Answer 5

Disengage if Hero wants to proceed into an intersection while a cable car is stopped. This is commonly seen at the California and Powell intersection in SF, as well as other intersections encountered during P2P Caution: proceeding with cable car ahead.

Question 6

CZ into oncoming lane where hero’s current lane and new oncoming lane are separated by median/divider

Answer 6

Disengage for CZ’s that forces hero to merge into oncoming lane where hero’s current lane and new oncoming lane are separated by median/divider Caution: #cz into oncoming lane with divider

Question 7

Gridlocked Cross Traffic or Keep Clear Zone or crosswalk

Answer 7

Disengage if Hero proceeds toward gridlocked cross traffic within a junction. Disengage if Hero is blocking a crosswalk, intersection, or keep clear zone. Caution: cross traffic ahead gridlocked, hero tried to proceed

Question 8

Lane change in Junction

Answer 8

Disengage if Hero attempts to lane change inside a junction. Caution: lane change in junction

Question 9

Mission re-planning & Unable To Proceed on Route

Answer 9

Disengage if Mission planing during autonomy is not currently supported. Disengage for road closures or if the vehicle is in the wrong lane to continue along the route. Caution: road closure ahead

Question 10

Missed PUDO

Answer 10

Disengage if hero approaches a PUDO, is not adjacent to the rightmost lane, and attempts to stop in a lane other than the rightmost lane Caution: missed pudo

Question 11

Multiple turn lanes

Answer 11

When hero is on a road with 2 parallel turn lanes (hero is on one of the turn lanes), disengage if hero attempts to lane change to the other turn lane. Caution: Hero attempted lane change in turn lane

Question 12

Multiple Lane Changes

Answer 12

Disengage for abrupt lane changes across 3 or more lanes with vehicles approaching from behind. This has been observed, but may not be limited to, when progressing from a pickup or dropoff with an alleyway or side street nearby. Caution: multi lane change

Question 13

LLC Nogos

Answer 13

Disengage if Hero experiences an LLC (low level controller) kickout. This controller kicks back control to the Vo coz it does not know how to to handle the situation. Eg comment Caution: LLC kickout

Question 14

Occluded Traffic Light

Answer 14

Disengage if the traffic light is occluded by a large truck or some other external factor, or if the traffic light state in coredash is flickery or incorrect. Caution: Occluded #TL or Coredash #TL state incorrect

Question 15

Traffic Light incorrect in Coredash

Answer 15

Disengage if the traffic light is occluded by a large truck or some other external factor, or if the traffic light state in coredash is flickery or incorrect. Caution: Occluded TL or Coredash TL state incorrect

Question 16

Railroad or Light-rail Crossings

Answer 16

Disengage whenever traversing over railroad or light-rail tracks (like passenger or freight trains) when flashing signals and gates are deployed. We can not yet handle these scenarios. Caution: Railroad Crossing

Question 17

Red TL Runner

Answer 17

Disengage for agents proceeding out-of-turn at TL junctions - such as agents running a red TL or proceeding illegally when Hero has the right of way. Caution: no yield to red TL runner

Question 18

Steam from Manhole

Answer 18

Disengage in the presence of thick steam. Hero may NoGo and/or brake harshly. Caution: thick steam ahead

Question 19

Suboptimal planner routing

Answer 19

Disengage If the planner route attempts to cross multiple lanes perpendicularly to reach a nearby street, disengage and proceed manually before re-engaging when planner returns. Caution: poor planner routing

Question 20

Sudden Swerve

Answer 20

Disengage if Hero is swerving into adjacent occupied lane, oncoming lane, or off road when there is no adjacent lane. Caution: Hero was swerving into oncoming lane

Question 21

U-Turns

Answer 21

Disengage before U-turns Caution: U-turn

Question 22

World Changes

Answer 22

Disengage if Hero encounters a world change during testing, such as a new or adjusted stop sign, traffic light, lane lines, road geometry, etc. Caution: #zrn world change (describe the changes observed)

Question 23

Hero Driving on Over/underpass

Answer 23

Disengage if Hero is driving on an over/underpass.(eg driving over I-15 in LV).This does not include railroad underpass (e.g underpass on W Russell on Tropicana figure 8 route). Caution: Overpass/Underpass